All the New Testament gospels were actually anonymous until they were attributed to Matthew, Mark, Luke and John later in the second century. As we do not really know who wrote any of the gospels, we can not say whether any of the authors actually knew Jesus, but scholars believe it most unlikely that any did.
The Gospels Mattew, Mark, Luke, and John were supposedly written by their titular author. These people were disciples of Christ. The remaining books in the New Testament were written by the apostle Paul, who only met Christ in a vision in the book of Acts. The remaining books are not considered gospels, however. Of the 4 Gospel writers, all of them were followers of Jesus; I presume they all literally walked with Him.